CN111409643A - Remote driving method, remote driving device and remote driving system - Google Patents
Remote driving method, remote driving device and remote driving system Download PDFInfo
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- CN111409643A CN111409643A CN202010293855.3A CN202010293855A CN111409643A CN 111409643 A CN111409643 A CN 111409643A CN 202010293855 A CN202010293855 A CN 202010293855A CN 111409643 A CN111409643 A CN 111409643A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a remote driving method, a remote driving device and a remote driving system, which relate to the field of unmanned vehicles (or automatic driving or unmanned driving), wherein the remote driving method comprises the steps of obtaining driving parameters corresponding to the automatic driving vehicle; when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, the automatic driving vehicle is automatically controlled to be switched from the automatic driving mode to the remote driving mode; and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode. By the technical scheme of the invention, the defects of the automatic driving vehicle in the automatic driving process are overcome, the solution of the automatic driving vehicle in abnormal automatic driving is added, and the timeliness of the remote driving mode switching of the automatic driving vehicle is favorably improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a remote driving method, a remote driving device and a remote driving system.
Background
An automatic driving vehicle is also called as an unmanned vehicle, a computer driving vehicle or a wheeled mobile robot, and is one of intelligent driving vehicles, and the automatic driving vehicle mainly depends on an intelligent driving instrument which is arranged in the vehicle and mainly takes a computer system as a main part to realize the purpose of unmanned driving.
With the development of science and technology, the automatic driving technology is mature day by day, but in the real field operation process of the automatic driving vehicle, because the machine intelligence does not reach the degree of being comparable to human, and is limited by factors such as the detection precision and the cost of a sensor installed on the automatic driving vehicle, when the automatic driving vehicle encounters some emergency in the driving process, the automatic driving vehicle can not carry out timely processing, so that the automatic driving vehicle can not normally drive.
Disclosure of Invention
In view of this, the invention provides a remote driving method, a remote driving device and a remote driving system, which make up for the defects of an automatic driving vehicle in the automatic driving process, increase the solutions of the automatic driving vehicle in abnormal automatic driving, and are beneficial to improving the timeliness of the remote driving mode switching of the automatic driving vehicle.
In a first aspect, an embodiment of the present invention provides a remote driving method, including:
acquiring driving parameters corresponding to an automatic driving vehicle;
when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode;
and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode.
Optionally, when it is determined that a first mode switching condition is met according to the driving parameters corresponding to the autonomous vehicle, automatically controlling the autonomous vehicle to switch from the autonomous driving mode to the remote driving mode includes:
and when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode through the automatic driving vehicle.
Optionally, when it is determined that a second mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle, controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode includes:
and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode through the automatic driving vehicle or the remote driving equipment.
Optionally, the acquiring the driving parameters corresponding to the autonomous vehicle includes:
obtaining a real-time location of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the detention time of the automatic driving vehicle at the same position is determined to be more than or equal to the set detention time according to the real-time position, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
Optionally, the acquiring the driving parameters corresponding to the autonomous vehicle includes:
obtaining a real-time location of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the map of the road section ahead of the automatic driving vehicle is determined to be missing according to the real-time position, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
Optionally, the acquiring the driving parameters corresponding to the autonomous vehicle includes:
acquiring a scheduling instruction received by the automatic driving vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the automatic driving vehicle is determined to receive the temporary scheduling task according to the scheduling instruction, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
Optionally, the acquiring the driving parameters corresponding to the autonomous vehicle includes:
obtaining an autonomous driving parameter of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when determining that the automatic driving parameters of the automatic driving vehicle are abnormal according to the automatic driving parameters, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
Optionally, when it is determined that a second mode switching condition is met according to the driving parameters corresponding to the autonomous vehicle, controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode includes:
and when the first mode switching condition is determined to be released according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from a remote driving mode to an automatic driving mode.
Optionally, the remote driving method further comprises:
when it is determined that a first mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle, sending a remote mode switching prompt instruction to remote driving equipment through the automatic driving vehicle;
and receiving a running control instruction sent by the remote driving equipment through the automatic driving vehicle, and controlling the automatic driving vehicle to run according to the control instruction.
Optionally, the remote driving method further comprises:
when it is determined that a first mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle, receiving the remote mode switching prompt instruction through the remote driving equipment, and prompting an operator to automatically enter a remote driving mode according to the remote mode switching prompt instruction;
and receiving an operation instruction of an operator through the remote driving equipment, and sending the running control instruction to the automatic driving vehicle according to the operation instruction.
In a second aspect, an embodiment of the present invention further provides a remote driving apparatus, including:
the parameter acquisition module is used for acquiring the driving parameters corresponding to the automatic driving vehicle;
the first switching module is used for automatically controlling the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle;
and the second switching module is used for controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle.
In a third aspect, an embodiment of the present invention further provides a remote driving system, including an autonomous vehicle and a remote driving device, where the autonomous vehicle is in communication connection with the remote driving device, and the remote driving system is configured to perform the remote driving method according to the first aspect.
The embodiment of the invention provides a remote driving method, a remote driving device and a remote driving system, wherein the remote driving method comprises the steps of obtaining driving parameters corresponding to an automatic driving vehicle, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode when the first mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle, and controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode when the second mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle. Therefore, coexistence of the automatic driving main line task and the remote driving main line task of the automatic driving vehicle is realized, the automatic driving vehicle can be automatically switched to the remote driving mode when the automatic driving vehicle encounters an emergency, so that the emergency encountered by the automatic driving vehicle is solved, the automatic driving vehicle can be switched back to the automatic driving module after the emergency encountered by the automatic driving vehicle is solved, the defects of the automatic driving vehicle in the automatic driving process are overcome, and the solution of the automatic driving vehicle when the automatic driving is abnormal is increased. In addition, the switching from the automatic driving vehicle to the remote driving mode is automatically triggered without the intervention of related personnel, thereby being beneficial to improving the timeliness of the switching from the remote driving mode of the automatic driving vehicle and simplifying the control process of the switching from the remote driving mode of the automatic driving vehicle.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic flow chart of a remote driving method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a remote driving method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a remote driving apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a remote driving system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a remote driving apparatus according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Fig. 1 is a schematic flow chart of a remote driving method according to an embodiment of the present invention. The remote driving method can be applied to application scenes in which remote driving control of the automatic driving vehicle is required, and can be executed by the remote driving device provided by the embodiment of the invention. As shown in fig. 1, the remote driving method includes:
and S110, acquiring the running parameters corresponding to the automatic driving vehicle.
Specifically, the driving parameters corresponding to the autonomous vehicle are acquired, the driving parameters of the autonomous vehicle may include, for example, a real-time location of the autonomous vehicle, and the real-time location of the autonomous vehicle may be acquired by, for example, a Positioning component integrated in the autonomous vehicle, such as a GPS (Global Positioning System). The running parameters of the automatic driving vehicle can also comprise a scheduling instruction received by the automatic driving vehicle, and the automatic driving vehicle can receive the scheduling instruction sent by the control platform and adjust the running parameters according to the scheduling instruction in the automatic driving process. The running parameters of the autonomous vehicle may further include an autonomous driving parameter of the autonomous vehicle, and the autonomous driving parameter may be, for example, a running speed, a running direction of the autonomous vehicle, or a sensing accuracy of a sensor mounted on the autonomous vehicle, or the like during autonomous driving.
And S120, when the first mode switching condition is determined to be met according to the running parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode.
Specifically, the autonomous vehicle is automatically controlled to switch from the autonomous mode to the remote driving mode when it is determined that the autonomous vehicle satisfies a first mode switching condition based on the driving parameters of the autonomous vehicle, the first mode switching condition may be, for example, that the autonomous vehicle encounters an emergency, when the autonomous vehicle enters the remote driving mode.
After the automatic driving vehicle enters the remote driving mode, a driver controls the running of the vehicle in a cab far away from the automatic driving vehicle through the operation of components such as a display screen, a steering wheel, an accelerator or a brake, and the like, at the moment, the running parameters of the automatic driving vehicle are completely determined by the operation of the driver in the cab located remotely, and the driver can temporarily adjust the running parameters of the automatic driving vehicle so as to solve the emergency situation faced by the automatic driving vehicle.
Alternatively, when it is determined that the first mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle, the autonomous vehicle may be automatically controlled via the autonomous vehicle to switch from the autonomous mode to the remote driving mode. Specifically, when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, for example, when it is determined that the automatic driving vehicle encounters an emergency, the automatic driving vehicle can automatically control the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode, that is, the automatic driving vehicle is automatically triggered when being switched to the remote driving mode, so that the intervention of related personnel is not required, the timeliness of the switching of the remote driving mode of the automatic driving vehicle is improved, and the control process of the automatic driving vehicle for being switched to the remote driving mode is simplified.
Optionally, when it is determined that the first mode switching condition is met according to the running parameter corresponding to the autonomous vehicle, a remote mode switching prompt instruction is sent to the remote driving device via the autonomous vehicle, a running control instruction sent by the remote driving device is received via the autonomous vehicle, and the autonomous vehicle is controlled to run according to the control instruction.
Specifically, upon determining that a first mode switching condition is satisfied based on the driving parameters of the autonomous vehicle, for example, determining that the autonomous vehicle is experiencing an emergency, the autonomous vehicle automatically switches its own driving mode from the autonomous mode to a remote driving mode while the autonomous vehicle sends a remote mode switching prompt instruction to a remote driving device capable of remotely controlling the autonomous vehicle.
The remote driving device may be, for example, a cab integrated with a display screen, a steering wheel, an accelerator, or a brake, and the remote mode switching prompt instruction may include, for example, a remote mode switching display prompt instruction and/or a remote mode switching sound prompt instruction, that is, while the automatic driving vehicle is automatically switched to the remote driving mode, the automatic driving vehicle controls the remote driving device to perform display prompt and/or sound prompt to an operator in the remote driving device through communication with the remote driving device, so that the operator in the remote driving device timely knows that the automatic driving vehicle has entered the remote driving mode.
After knowing the information that the automatic driving vehicle enters the remote driving mode, an operator in the remote driving device remotely controls the automatic driving vehicle, namely sends a driving control instruction to the automatic driving vehicle, and the automatic driving vehicle receives the driving control instruction sent by the remote driving device and controls the automatic driving vehicle to drive according to the control instruction, namely the automatic driving vehicle only adjusts the driving parameters of the automatic driving vehicle according to the remote instruction sent by the remote driving device.
Optionally, when it is determined that the first mode switching condition is met according to the driving parameter corresponding to the autonomous vehicle, receiving a remote mode switching prompt instruction through the remote driving device, and prompting the operator to automatically enter the remote driving mode of the autonomous vehicle according to the remote mode switching prompt instruction. And receiving an operation instruction of an operator through the remote driving device, and sending a running control instruction to the automatic driving vehicle according to the operation instruction.
Specifically, when it is determined that a first mode switching condition is met according to the running parameters of the autonomous vehicle, for example, when it is determined that the autonomous vehicle encounters an emergency, the autonomous vehicle switches to the remote driving mode, and at the same time, the autonomous vehicle sends a remote mode switching prompt instruction to the remote driving device, and the remote driving device receives the remote mode switching instruction sent by the autonomous vehicle and prompts the operator to automatically enter the remote driving mode according to the remote mode switching prompt instruction. For example, the remote driving device may perform a display prompt and/or a voice prompt for the operator to automatically enter the remote driving mode of the autonomous vehicle according to the remote mode switching prompt instruction, so that the operator in the remote driving device can timely know that the autonomous vehicle has entered the remote driving mode.
The method comprises the steps that after an operator in the remote driving equipment learns that the automatic driving vehicle enters a remote driving mode, a corresponding operation instruction is sent to the remote driving equipment, the remote driving equipment receives the operation instruction of the operator and sends a driving control instruction to the automatic driving vehicle according to the operation instruction, and the automatic driving vehicle adjusts driving parameters of the automatic driving vehicle according to the driving control instruction sent by the remote driving equipment.
Optionally, when the autonomous vehicle is switched to the remote driving mode, the remote driving device may send an image acquisition instruction to the autonomous vehicle, the autonomous vehicle receives the image acquisition instruction sent by the remote driving device and acquires an environment image around the autonomous vehicle according to the image acquisition instruction, the autonomous vehicle sends the environment image to the remote driving device, and the remote driving device displays the received environment image around the autonomous vehicle to an operator of the remote driving device.
Specifically, a plurality of camera components can be arranged around the autonomous vehicle, and in the process that the autonomous vehicle is in the remote driving mode, the camera components are used for acquiring images and video data of the environment around the autonomous vehicle and transmitting the images and the video data to the remote driving equipment, so that an operator in the remote driving equipment can control the autonomous vehicle to normally run at the remote driving end according to the images and the video data of the environment around the autonomous vehicle. Wherein the autonomous vehicle transmits the aforementioned image or video data to the remote driving device may rely on a 4G or 5G communication network of the body of the autonomous vehicle. In addition, the image and video data collected by the camera shooting component can be stored in local hardware after being coded and decoded, and can be used as a video data compass of the black box of the automatic driving vehicle and used as a safe driving evidence of a driving recorder when the vehicle is in safe collision and accidents.
It should be noted that, in addition to the image and video data collected by the camera in the above embodiment, other manners may be adopted for the automatic driving vehicle to obtain the vehicle driving data, for example, sound data around the vehicle during the vehicle driving is collected by a sound sensor, and the embodiment of the present invention is not limited in this respect.
Optionally, the obtaining of the driving parameters corresponding to the autonomous vehicle includes obtaining a real-time position of the autonomous vehicle, and when it is determined that the first mode switching condition is met according to the driving parameters corresponding to the autonomous vehicle, automatically controlling the autonomous vehicle to switch from the autonomous mode to the remote driving mode, and when it is determined that the residence time of the autonomous vehicle at the same position is greater than or equal to a set residence time according to the real-time position, automatically controlling the autonomous vehicle to switch from the autonomous mode to the remote driving mode.
Specifically, the running parameters of the autonomous vehicle may include a real-time position of the autonomous vehicle, and when the autonomous vehicle determines that a residence time of the autonomous vehicle at the same position is greater than or equal to a set residence time according to the real-time position of the autonomous vehicle, that is, when it is determined that the autonomous vehicle remains stationary at the same location for a long time according to the real-time position of the autonomous vehicle, it may be determined that the autonomous vehicle encounters an emergency situation of traffic congestion, for example, and the autonomous vehicle may automatically control its own switching from the autonomous driving mode to the remote driving mode. For example, after the automatic driving mode is switched to the remote driving mode, an environment image around the automatic driving vehicle can be sent to the remote driving device by using the camera component installed on the vehicle body, and an operator in the remote driving device can timely and remotely adjust a running route of the automatic driving vehicle through real-time observation of the congestion condition of the surrounding vehicle when knowing that the automatic driving vehicle is currently in a congested road section according to the environment image around the automatic driving vehicle, so that the automatic driving vehicle leaves the congested road section as soon as possible, and the emergency situation such as traffic jam encountered by the automatic driving vehicle is effectively solved.
Optionally, obtaining the driving parameters corresponding to the autonomous vehicle includes obtaining a real-time location of the autonomous vehicle. And when the condition that the first mode switching condition is met is determined according to the driving parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode, wherein the step of automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode comprises the step of determining that the map of the road section in front of the automatic driving vehicle is missing according to the real-time position.
Specifically, the driving parameters of the autonomous vehicle may include a real-time position of the autonomous vehicle, the autonomous vehicle may obtain a map of a road section ahead of the autonomous vehicle in real time according to the real-time position of the autonomous vehicle, and when the autonomous vehicle cannot obtain the map of the road section ahead of the autonomous vehicle, it may be determined that the autonomous vehicle encounters an emergency situation in which the map of the road section ahead of the autonomous vehicle is missing, the autonomous vehicle cannot drive in the autonomous driving mode, and the autonomous vehicle may automatically control its own switching from the autonomous driving mode to the remote driving mode. For example, after the automatic driving mode is switched to the remote driving mode, the image of the environment around the automatic driving vehicle can be transmitted to the remote driving device by using the camera component installed on the vehicle body, and an operator in the remote driving device can timely and remotely adjust the driving route of the automatic driving vehicle according to the image of the environment around the automatic driving vehicle so that the automatic driving vehicle can safely pass through the road section with the map missing, thereby effectively solving the sudden situation such as the map missing of the road section in front of the driving, which is met by the automatic driving vehicle.
Optionally, the obtaining of the driving parameters corresponding to the autonomous vehicle includes obtaining a scheduling instruction received by the autonomous vehicle. And when the automatic driving vehicle receives a temporary scheduling task according to a scheduling instruction, automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode.
Specifically, the driving parameters of the autonomous vehicle may include a scheduling instruction received by the autonomous vehicle, and the autonomous vehicle may determine whether the autonomous vehicle has received the temporary scheduling task according to the scheduling instruction of the autonomous vehicle, and when it is determined that the autonomous vehicle encounters, for example, an emergency situation in which the reception of the temporary scheduling task requires a change of the driving route, the autonomous vehicle may automatically control itself to be switched from the autonomous driving mode to the remote driving mode. For example, after the automatic driving mode is switched to the remote driving mode, an operator in the remote driving device timely and remotely controls the automatic driving vehicle to run according to the running route corresponding to the received temporary scheduling task, and the sudden situation that the automatic driving vehicle meets, such as the fact that the running route needs to be replaced when the temporary scheduling task is received, is effectively solved.
Optionally, acquiring the driving parameters corresponding to the autonomous vehicle includes acquiring the autonomous driving parameters of the autonomous vehicle. And when determining that the automatic driving parameters of the automatic driving vehicle are abnormal according to the automatic driving parameters, automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode.
Specifically, the running parameter of the autonomous vehicle may include an autonomous driving parameter of the autonomous vehicle, and the autonomous driving parameter may be, for example, a running speed, a running direction, or a sensing accuracy of a sensor mounted on the autonomous vehicle, during autonomous driving, and the autonomous vehicle determines whether the autonomous driving parameter of the autonomous vehicle is abnormal according to the autonomous driving parameter of the autonomous vehicle, and when it is determined that the autonomous vehicle encounters an autonomous driving parameter abnormality, such as a running speed abnormality, a running route abnormality, or an emergency situation in which the sensing accuracy of a sensor mounted on the autonomous vehicle cannot meet a requirement, the autonomous vehicle automatically controls itself to switch from the autonomous driving mode to the remote driving mode. For example, after the automatic driving mode is switched to the remote driving mode, the image of the environment around the automatic driving vehicle can be sent to the remote driving device by using the camera component installed on the vehicle body, and an operator in the remote driving device can timely and remotely control the automatic driving vehicle to run according to the image of the environment around the automatic driving vehicle, so that the sudden situations that the automatic driving vehicle cannot run safely due to automatic driving abnormity are effectively solved.
And S130, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle.
Optionally, when it is determined that the second mode switching condition is met according to the running parameter corresponding to the autonomous vehicle, the autonomous vehicle is controlled to switch from the remote driving mode to the autonomous driving mode via the autonomous vehicle or the remote driving device. Specifically, the autonomous vehicle may automatically control the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode when the autonomous vehicle determines that the second mode switching condition is satisfied according to the driving parameter of the autonomous vehicle. Or the automatic driving vehicle sends a request for switching from the remote driving mode to the automatic driving mode to the remote driving equipment, and after the remote driving equipment receives the switching request, an operator in the remote driving equipment sends a state switching instruction to the automatic driving vehicle through the remote driving equipment so as to control the automatic driving vehicle to switch from the remote driving mode to the automatic driving mode.
Optionally, when it is determined that the second mode switching condition is met according to the running parameter corresponding to the autonomous vehicle, controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode includes, when it is determined that the first mode switching condition is released according to the running parameter corresponding to the autonomous vehicle, controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode.
Specifically, when the autonomous vehicle is determined to meet the second mode switching condition according to the running parameters of the autonomous vehicle, the autonomous vehicle is controlled to switch from the remote driving mode to the autonomous driving mode, and the second mode switching condition may be release of the first mode switching condition, that is, release of an emergency situation encountered by the autonomous vehicle, and at this time, the autonomous vehicle is controlled to switch back to the autonomous driving mode.
For example, the autonomous vehicle may be controlled to switch from the remote driving mode back to the autonomous driving mode when it is determined from the real-time position of the autonomous vehicle that the autonomous vehicle has passed a congested road segment, or when it is determined from the real-time position of the autonomous vehicle that the autonomous vehicle is being re-traveled from a map-missing road segment back to a map-full road segment, or when it is determined from a scheduling instruction received by the autonomous vehicle that a temporary scheduling task received by the autonomous vehicle is cancelled, or when it is determined from the autonomous driving parameters of the autonomous vehicle that the autonomous driving parameters of the autonomous vehicle are all normal.
Fig. 2 is a schematic flow chart of a remote driving method according to an embodiment of the present invention. The remote driving method can be applied to application scenes in which remote driving control of the automatic driving vehicle is required, and can be executed by the remote driving device provided by the embodiment of the invention. As shown in fig. 2, the remote driving method includes:
and S210, executing an automatic driving main line task.
And S220, judging whether an emergency happens occasionally. If yes, go to step 240; if not, go to step 260.
And S230, executing a remote driving main line task.
And S240, switching to the emergency vehicle, and remotely controlling the emergency vehicle.
Specifically, the remote driving device may monitor a plurality of autonomous vehicles at the same time, and when it is determined that an autonomous vehicle encounters an emergency, the remote driving device switches to a corresponding autonomous vehicle and remotely controls the autonomous vehicle.
And S250, whether the emergency is solved or not. If yes, go to step 260; if not, go to step 240.
And S260, continuously executing the automatic driving main line task.
The embodiment of the invention also provides a remote driving device, and fig. 3 is a schematic structural diagram of the remote driving device provided by the embodiment of the invention. As shown in fig. 3, the remote driving apparatus includes a parameter obtaining module 310, a first switching module 320, and a second switching module 330, where the parameter obtaining module 310 is configured to obtain a driving parameter corresponding to the autonomous vehicle, the first switching module 320 is configured to automatically control the autonomous vehicle to switch from the autonomous driving mode to the remote driving mode when it is determined that a first mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle, and the second switching module 330 is configured to control the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode when it is determined that a second mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle.
The embodiment of the invention realizes coexistence of the automatic driving main line task and the remote driving main line task of the automatic driving vehicle, can automatically switch the automatic driving vehicle to the remote driving mode when the automatic driving vehicle encounters an emergency so as to solve the emergency encountered by the automatic driving vehicle, and can switch the automatic driving vehicle back to the automatic driving module after the emergency encountered by the automatic driving vehicle is solved, thereby overcoming the defect of the automatic driving vehicle in the automatic driving process and increasing the solution of the automatic driving vehicle when the automatic driving is abnormal. In addition, the switching from the automatic driving vehicle to the remote driving mode is automatically triggered without the intervention of related personnel, thereby being beneficial to improving the timeliness of the switching from the remote driving mode of the automatic driving vehicle and simplifying the control process of the switching from the remote driving mode of the automatic driving vehicle.
The embodiment of the invention also provides a remote driving system, and fig. 4 is a schematic structural diagram of the remote driving system provided by the embodiment of the invention. As shown in fig. 4, the remote driving system 400 includes an autonomous vehicle 410 and a remote driving device 420, the autonomous vehicle 410 is in communication with the remote driving device 420, and the remote driving system 400 is configured to perform the remote driving method according to the above embodiment, so that the remote driving system 400 has the beneficial effects of the above embodiment, and will not be described again.
The embodiment of the invention also provides remote driving equipment, and fig. 5 is a schematic structural diagram of the remote driving equipment provided by the embodiment of the invention. As shown in fig. 5, the remote driving apparatus includes: at least one processor 510, at least one memory 520, and at least one communication interface 530. The various components in the remote driving device are coupled together by a bus system 540. A communication interface 530 for information transmission with an external device. It is understood that the bus system 540 is used to enable communications among the components. The bus system 540 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for the sake of clarity the various buses are labeled as bus system 540 in figure 5.
It will be appreciated that the memory 520 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. In some embodiments, memory 520 stores the following elements: an executable unit or data structure, or a subset thereof, or an extended set of them, an operating system and an application program. In this embodiment of the present invention, the processor 510 is configured to execute the steps of the embodiments of the remote driving method provided by the embodiments of the present invention by calling a program or an instruction stored in the memory 520, which may be, specifically, a program or an instruction stored in an application program.
The remote driving method provided by the embodiment of the application can be applied to the processor 510, or implemented by the processor 510. Processor 510 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 510. The Processor 510 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the remote driving learning method provided by the embodiment of the invention can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software unit in the decoding processor is combined. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 520, and the processor 510 reads the information in the memory 520, and performs the steps of the method in combination with the hardware thereof.
The remote driving apparatus may further include a physical component, or a plurality of physical components, to implement control of the autonomous vehicle according to instructions generated by processor 510 when executing the remote driving method provided by the embodiments of the present application. Different physical components may be provided in or out of the autonomous vehicle, such as a cloud server or the like. The various physical components cooperate with the processor 510 and memory 520 to implement the functionality of the remote steering device in this embodiment.
Embodiments of the present invention also provide a storage medium, such as a computer-readable storage medium, storing a program or instructions for causing a computer to perform a remote driving method when the program or instructions are executed, the method including:
acquiring driving parameters corresponding to an automatic driving vehicle;
when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, the automatic driving vehicle is automatically controlled to be switched from the automatic driving mode to the remote driving mode;
and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode.
Optionally, the computer executable instructions, when executed by the computer processor, may be further configured to implement a technical solution of a remote driving method provided in any embodiment of the present application.
Based on the understanding that the technical solutions of the present application can be embodied in the form of software products, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a flash Memory (F L ASH), a hard disk or an optical disk of a computer, and the like, and include instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present application.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (12)
1. A remote driving method, comprising:
acquiring driving parameters corresponding to an automatic driving vehicle;
when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode;
and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode.
2. The remote driving method according to claim 1, wherein automatically controlling the autonomous vehicle to switch from the autonomous driving mode to the remote driving mode when it is determined that a first mode switching condition is satisfied according to a driving parameter corresponding to the autonomous vehicle comprises:
and when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, automatically controlling the automatic driving vehicle to switch from the automatic driving mode to the remote driving mode through the automatic driving vehicle.
3. The remote driving method according to claim 1, wherein controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode when it is determined that the second mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle comprises:
and when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode through the automatic driving vehicle or the remote driving equipment.
4. The remote driving method according to claim 1, wherein the obtaining of the corresponding driving parameters of the autonomous vehicle comprises:
obtaining a real-time location of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the detention time of the automatic driving vehicle at the same position is determined to be more than or equal to the set detention time according to the real-time position, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
5. The remote driving method according to claim 1, wherein the obtaining of the corresponding driving parameters of the autonomous vehicle comprises:
obtaining a real-time location of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the map of the road section ahead of the automatic driving vehicle is determined to be missing according to the real-time position, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
6. The remote driving method according to claim 1, wherein the obtaining of the corresponding driving parameters of the autonomous vehicle comprises:
acquiring a scheduling instruction received by the automatic driving vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when the automatic driving vehicle is determined to receive the temporary scheduling task according to the scheduling instruction, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
7. The remote driving method according to claim 1, wherein the obtaining of the corresponding driving parameters of the autonomous vehicle comprises:
obtaining an autonomous driving parameter of the autonomous vehicle;
when it is determined according to the driving parameters corresponding to the autonomous vehicle that a first mode switching condition is met, automatically controlling the autonomous vehicle to switch from an autonomous driving mode to a remote driving mode includes:
and when determining that the automatic driving parameters of the automatic driving vehicle are abnormal according to the automatic driving parameters, automatically controlling the automatic driving vehicle to be switched from an automatic driving mode to a remote driving mode.
8. The remote driving method according to any one of claims 1 to 7, wherein controlling the autonomous vehicle to switch from the remote driving mode to the autonomous driving mode when it is determined that the second mode switching condition is satisfied according to the driving parameter corresponding to the autonomous vehicle comprises:
and when the first mode switching condition is determined to be released according to the running parameters corresponding to the automatic driving vehicle, controlling the automatic driving vehicle to be switched from a remote driving mode to an automatic driving mode.
9. The remote driving method according to any one of claims 1 to 8, further comprising:
when it is determined that a first mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle, sending a remote mode switching prompt instruction to remote driving equipment through the automatic driving vehicle;
and receiving a running control instruction sent by the remote driving equipment through the automatic driving vehicle, and controlling the automatic driving vehicle to run according to the control instruction.
10. The remote driving method according to claim 9, further comprising:
when it is determined that a first mode switching condition is met according to the driving parameters corresponding to the automatic driving vehicle, receiving the remote mode switching prompt instruction through the remote driving equipment, and prompting an operator to automatically enter a remote driving mode according to the remote mode switching prompt instruction;
and receiving an operation instruction of an operator through the remote driving equipment, and sending the running control instruction to the automatic driving vehicle according to the operation instruction.
11. A remote driving apparatus, comprising:
the parameter acquisition module is used for acquiring the driving parameters corresponding to the automatic driving vehicle;
the first switching module is used for automatically controlling the automatic driving vehicle to be switched from the automatic driving mode to the remote driving mode when the first mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle;
and the second switching module is used for controlling the automatic driving vehicle to be switched from the remote driving mode to the automatic driving mode when the second mode switching condition is met according to the running parameters corresponding to the automatic driving vehicle.
12. A remote driving system comprising an autonomous vehicle and a remote driving device, the autonomous vehicle being in communication with the remote driving device, the remote driving system being configured to perform the remote driving method of any one of claims 1-10.
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